Chapter 6 - Frequency Response

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1 1
Frequency Response Frequency Response
(Bode Plot) (Bode Plot)
22
Definition
The frequency response of a system is defined as the
steady state response of the system to a sinusoidal
input signal.
t sin A ) t ( u
o
=
y(t) ?
2
o
2
o
s
A
) s ( U
+
=

=
+
=
n
1 i
i
p s
) s ( m
) s ( G
) s ( G
) s ( U
3 3
Response to sinusoidal input
) s ( U ) s ( G ) s ( Y =
2 2 n
1 i
i
s
A
p s
) s ( m
) s ( Y
+
+
=
=
o
*
o
o
n
n
1
1
j s j s p s p s
) s ( Y
o

+
+
+
+
+ +
+
= L
Taking the inverse Laplace transform:
( ) + + + + =

t sin A 2 e e ) t ( y
o o
t p
n
t p
1
n 1
L
|
|
\
|
=

) Re(
) Im(
tan
o
o 1
44
If the system is stable, the steady state response is
( ) + = t sin AM ) t ( y
o
Where
( ) { } ( ) { }
2
o
2
o
j s
o
) j ( G Im ) j ( G Re ) s ( G ) j ( G M
o
+ = = =
=
(
(
=

) j ( G Re
) j ( G Im
tan
o
o 1
In polar form

=
j
o
Me ) j ( G
Both magnitude M and phase
angle depend on the
frequency of the sinusoidal
input.
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Example:
Find the frequency response
y(t) ?
) s ( G
) s ( U
u(t)=sin 10t
Where:
1 s
1
) s ( G
+
=
66
u(t)=sin 10t
1 s
1
) s ( G
+
=
7 7
The steady state response to sinusoidal input is also
sinusoidal, which differs from sinusoidal input only in
amplitude and phase angle.
y(t) ?
T(s)
Y(s) R(s)
) s ( U
) s ( G
88
How to represent frequency response graphically?
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Bode Plot Techniques Bode Plot Techniques
Display of frequency response is a problem that has Display of frequency response is a problem that has
been studied for a long time. been studied for a long time.
The most useful technique for hand plotting was The most useful technique for hand plotting was
developed by H.W. Bode, so called as Bode Plot. developed by H.W. Bode, so called as Bode Plot.
The idea in Bode The idea in Bode s method is to plot magnitude s method is to plot magnitude
curves using a logarithmic scale and phase curves curves using a logarithmic scale and phase curves
using a linear scale. using a linear scale.
10 10
The Bode plots consists of two graphs: The Bode plots consists of two graphs:
Magnitude M (Gain Magnitude M (Gain ||G(j G(j ))||) is plotted against ) is plotted against
log( log( ) again is represented as logarithmic gain in ) again is represented as logarithmic gain in
dB dB
Phase angle Phase angle G(j G(j ) is plotted against log( ) is plotted against log( ))
Phase is usually measured in degrees Phase is usually measured in degrees
G log 20 G
db
=
11 11
Advantages of Bode Plots Advantages of Bode Plots
Dynamic compensator design can be based Dynamic compensator design can be based
entirely on Bode plots. entirely on Bode plots.
Bode plots can be determined experimentally Bode plots can be determined experimentally
Bode plots of system in series simply add, which Bode plots of system in series simply add, which
is quite convenient. is quite convenient.
The use of a log scale permits a much wider The use of a log scale permits a much wider
range of frequencies to be displayed on a single range of frequencies to be displayed on a single
plot than is possible with linear scales. plot than is possible with linear scales.
12 12
For the following first order system
2 s
1
) s ( T
+
=
We substitute j for s
2 j
1
) j ( T
+
=
The magnitude and phase are
4
1
) j ( T
2
+
=
|
\
|
= =

2
tan ) ( ) j ( T
1
Example:
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10
-1
10
0
10
1
10
2
-50
-40
-30
-20
-10
0
Frequency rad/s
M
a
g
n
i
t
u
d
e

d
B
10
-1
10
0
10
1
10
2
-100
-80
-60
-40
-20
0
Frequency rad/s
P
h
a
s
e

d
e
g
Example:
14 14
The transfer function of RC filter is
1 s
1
) s ( G
+
=
1 j
1
) j ( G
+
=
How to make Bode diagrams for complex system?
decade
15 15
The primary advantage of the logarithmic plot is the
conversion of multiplicative factor into additive factor
by virtue of the definition of logarithmic gain.
Consider the open-loop transfer function
( )
( ) ( ) ( )

= =
=
+ + +
+
=
M
1 m
R
1 k
2
n k
2
m
N
Q
1 i
i
k
n k
s 2 s p s s
z s
K ) s ( G
16 16
In working with frequency response, it is more
convenient to replace s with j and to write the
transfer function in the Bode-form:
( )
( ) ( ) ( ) ( )

= =
=
+ + +
+
=
M
1 m
R
1 k
2
n n k m
N
Q
1 i
i
o
k k
/ j j ) / 2 ( 1 1 j j
1 j
K ) j ( G
? ) j ( G
db
=
? ) j ( G = =
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( )
=
+ + =
N
1 i
N
i o
db
j log 20 j 1 log 20 K log 20 ) j ( G
Then:
=
+
M
1 m
m
j 1 log 20
( ) ( )
=
+ +
R
1 k
2
n n k
k k
/ j j ) / 2 ( 1 log 20
Since the gain is plot in dB, we can treat each pole and
zero individually, and then add up the results.
18 18
Furthermore the phase angle is

=
+ =
M
1 m
m
1
N
1 i
i
1
tan ) 90 ( N tan 0 ) (
|
|
\
|

R
1 k
2
2
n
n k 1
k
k
2
tan
Similarly, the phase angle due to each pole and zero
can be computed individually, and then the results is
added together.
19 19
Given the response of each basic term in the Given the response of each basic term in the
transfer function, the algebraic sum would transfer function, the algebraic sum would
yield the total response. yield the total response.
If we can make an approximation of each If we can make an approximation of each
term we should be able to quickly sketch the term we should be able to quickly sketch the
Bode diagrams. Bode diagrams.
20 20
Bode Plot Summary Bode Plot Summary
All transfer function for kinds of systems we have
talked about, so far are composed of three classes of
terms
K
o
(j)
n
(j+1)
1
We can determine the logarithmic magnitude plot and

phase angle for these four factors then utilize them
to obtain a Bode diagram for any general form of a
transfer function.
1
n
2
n
1
j
2
j

(
(
+
|
|
\
|
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21 21
1. K
o
(j )
n
The logarithmic gain is
( ) + = j log n 20 Ko log 20 ) ( M
The phase angle is
0
90 n ) ( =
The easiest way to draw the curve is to locate = 1
and plot 20logKo at that frequency and then draw the
line with slope 20n db/dec through that point.
22 22
0.1 1
10
20
40
0
-20
-40
Ko log 20
20 dB/dec
40 dB/dec
-20 dB/dec
-40 dB/dec
n=1
n=2
n=-1
n=-2
1. K
o
(j )
n
23 23
0.1 1
10
90
180
0
-90
-180
n=1
n=2
n=-1
n=-2
1. K
o
(j )
n
24 24
2. (j + 1)
1
The magnitude of this term approaches one asymptote
at very low frequencies and another asymptote at very
high frequency.
(a) For << 1/, (j + 1)
n
1
(b) For >> 1/, (j + 1)
n
(j)
1
slope 1x20 dB/dec
The phase curve can also be drawn easily by using the
following low- and high-frequencies asymptotes:
(a) For << 1/, = 0
(b) For >> 1/, = 1x90
0
(c) For 1/, = 1x45
0
= 1/ is the break point
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25 25
(j + 1)
(j + 1)
-1
26 26
The magnitude of this term approaches one asymptote
at very low frequencies and another asymptote at very
high frequency.
(a) For <<
n
, |G(j)|
db
0
(b) For >>
n
, |G(j)|
db
(j)
2
slope 1x40 dB/dec
1
n
2
n
1
j
2
j

(
(
+
|
|
\
|
The phase curve can also be drawn easily by using the

following low- and high-frequencies asymptotes:
(a) For <<
n
, = 0
(b) For >>
n
, = 1x180
0
(c) For
n
, = 1x90
0

n
= natural frequency
27 27
1
n
2
n
1
j
2
j

(
(
+
|
|
\
|
28 28
Example
Plot the Bode plots for the following transfer function
) 1 . 0 s (
) 1 s ( 10
) s ( G
+
+
=
) 100 s 4 . 0 s ( s
100
) s ( G
2
+ +
=
) 1 s (
) 1 . 0 s ( 10
) s ( G
+
+
=
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Example
Plot the Bode plots for the following transfer function
) 5 s )( 10 s ( s
) 5 . 0 s ( 2000
) s ( G
+ +
+
=
) 4 s 4 . 0 s ( s
10
) s ( G
2
+ +
=
[ ] 1 ) 2 / s ( 02 . 0 4 / s s
) 1 s 01 . 0 s ( 01 . 0
) s ( G
2 2
2
+ +
+ +
=
30 30
) 5 s )( 10 s ( s
) 5 . 0 s ( 2000
) s ( G
+ +
+
=
31 31
) 4 s 4 . 0 s ( s
10
) s ( G
2
+ +
=
Bode Plot Techniques
32 32
[ ] 1 ) 2 / s ( 02 . 0 4 / s s
) 1 s 01 . 0 s ( 01 . 0
) s ( G
2 2
2
+ +
+ +
=
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Gain and Phase Margin Gain and Phase Margin
-5 -4 -3 -2 -1 0 1 2
-3
-2
-1
0
1
2
3
Root Locus
Real Axis
Im
a
g
in
a
ry
A
x
is
2
) 1 s ( s
1
+
34 34
Gain Margin (GM) Gain Margin (GM)
Gain margin (GM): difference (in dB) between Gain margin (GM): difference (in dB) between
unity gain condition (0 dB) unity gain condition (0 dB) and and magnitude magnitude of of
frequency response frequency response @ phase cross @ phase cross- -over over
frequency frequency
Phase cross Phase cross- -over frequency, over frequency,
pp
: : frequency frequency, ,
at which at which phase = phase = - -180 180
oo
GM = 0 GM = 0 - - |G(j |G(j
pp
)| = )| = - - |G(j |G(j
pp
)| )|
35 35
Phase Margin (PM) Phase Margin (PM)
Phase margin (PM): difference (in Phase margin (PM): difference (in
degrees) between degrees) between phase @ gain cross phase @ gain cross- -
over frequency over frequency and and - -180 180
oo
Gain cross Gain cross- -over frequency, over frequency,
gg
: : frequency frequency, ,
at which at which magnitude = 1 (0 dB) magnitude = 1 (0 dB)
PM = PM = G(j G(j
gg
) + 180 ) + 180
oo
36 36
Gain and Phase Margin Gain and Phase Margin
-150
-100
-50
0
50
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-270
-225
-180
-135
-90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm = 26 dB (at 1 rad/sec) , Pm = 78.7 deg (at 0.099 rad/sec)
Frequency (rad/sec)
Phase cross-
over frequency
Gain cross-
over frequency
Gain margin } }} }
}
Phase margin

Chapter 6 - Frequency Response

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Chapter 6 - Frequency Response

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We can determine the logarithmic magnitude plot and

The phase curve can also be drawn easily by using the

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